The charges include one count of engaging in prostitution with a person under 18 years of age and one count of hiring a person under 18 years of age for sexual purposes, Hennepin County Attorney Mike Freeman said.
The charges stem from allegations on an incident that took place in July 2001. Freeman said the victim "was attempting to obtain an autograph at City Center in Minneapolis, which Kelly gave to her along with a phone number."
When she called Kelly, she was directed to go to his hotel, where she was met by a member of his staff and "ushered up to a hotel suite."
Kelly then allegedly offered her to take her clothes off for $200 and dance for him. Freeman says she accepted the money, got naked and proceeded to dance, with "sexual contact" occurring during the incident.
The investigation started when a victim called a tip phone line setup by Cook County State's Attorney Kim Foxx, a Cook County States's Attorney's office spokesperson said.
R. Kelly is currently in custody in New York charged with other underage sex crimes.
Previous coverage:
R. Kelly crisis manager stepping down
R. Kelly held without bond following Tuesday's arraignment on federal sex crime charges
HHearing in R. Kelly case to be held Tuesday after singer charged with federal sex crimes
R. Kelly appears in court on federal sex crime charges
R. Kelly arrested by NYPD in Chicago on federal sex crime charges including child pornography, obstruction of justice
R. Kelly accused of paying off alleged victim in 2008 trial
R. Kelly pleads not guilty to new sexual assault charges
RELATED: Chicago reporter makes his case against R. Kelly in new book
RELATED: R. Kelly pleads not guilty to new sexual assault charges
RELATED: R. Kelly: New charges 'raise the stakes,' attorney says
RELATED: R. Kelly facing 11 new counts of sex charges in Chicago
R. Kelly pays $62K in back child support; Judgement in lawsuit vacated after Kelly's lawyers say singer can't read
R. Kelly appears in court Tuesday for status hearing
RELATED: R. Kelly performs for 28 seconds at Springfield club; fans upset
RELATED: R. Kelly's attorney appears in court
RELATED: Dubai denies there were plans for R. Kelly concert
RELATED: R. Kelly appears in court Friday
RELATED: R. Kelly will request permission to travel to Dubai via private jet for concerts
RELATED: R. Kelly appears in court for child support hearing
RELATED: R. Kelly released from Cook County Jail
RELATED: Man says he found videotape of R. Kelly sexually abusing girls
RELATED: R. Kelly in jail for failing to pay child support; New allegation surfaces
RELATED: R. Kelly returns to jail for failing to pay child support
RELATED: R. Kelly speaks publicly for 1st time since new sex abuse charges
RELATED: 'Friend' who posted bail for R. Kelly identified
RELATED: R. Kelly released from jail after pleading not guilty to sex abuse charges
RELATED: 'I'm the one you ignore': Chicago writer tenacious in R. Kelly coverage that has spanned years
RELATED: R. Kelly remains in jail; singer's finances 'a mess,' lawyer says
RELATED: R. Kelly charged: A look back at key moments of the singer's life and career
RELATED: R. Kelly charged with 10 counts of sex abuse, bond set at $1M
RELATED: R. Kelly looking at jail without bond, life in prison if convicted
RELATED: R. Kelly charged with 10 counts of sex abuse, in police custody
RELATED: R. Kelly moving out of West Side studio
RELATED: R. Kelly lawyer disputes report that grand jury convened to examine allegations against singer
RELATED: Allred concerned client may be on R. Kelly tape
RELATED: R. Kelly seen having sex with underage girl in new tape, attorney says
RELATED: Keys from Atlanta TV crew's rental car stolen outside R. Kelly's studio
RELATED: Judge rules R. Kelly can't use West Loop recording studio overnight
RELATED: SEE INSIDE: R. Kelly hasn't cleared bedroom from West Loop studio, inspectors say
RELATED: SEE INSIDE: Judge orders clean-up, new restrictions at R Kelly's studio
RELATED: R. Kelly attorney speaks out after singer's West Loop studio inspected
RELATED: A look inside R. Kelly's West Loop studio; city inspectors find violations
RELATED: City inspectors find violations at R. Kelly's West Loop studio
RELATED: Alleged victim accuses R. Kelly of trying to silence her
RELATED: City to inspect R. Kelly's Near West Side music studio
RELATED: Lady Gaga apologizes for R. Kelly collaboration
RELATED: R. Kelly parties at South Side nightclub as legal pressures mount
RELATED: Protesters call for prosecution, boycott of R. Kelly outside Chicago studio
RELATED: Foxx asks for cooperation from possible victims, witnesses to open R. Kelly investigation
RELATED: Chance the Rapper apologizes for past work with R Kelly
RELATED: R Kelly's accusers, inner circle revisit shocking allegations in new docuseries
RELATED: R. Kelly's ex-wife shares story of abuse, survival ahead of documentary